A particle swarm optimization approach using adaptive entropy-based fitness quantification of expert knowledge for high-level, real-time cognitive robotic control

Abstract: High-level, real-time mission control of semi-autonomous robots, deployed in remote and dynamic environments, remains a challenge. Control models, learnt from a knowledgebase, quickly become obsolete when the environment or the knowledgebase changes. This research study introduces a cognitive reasoning process, to select the optimal action, using the most relevant knowledge from the knowledgebase, subject to observed evidence. The approach in this study introduces an adaptive entropy-based set-based particle swarm algorithm (AE-SPSO) and a novel, adaptive entropy-based fitness quantification (AEFQ) algorithm for evidence-based optimization of the knowledge. The performance of the AE-SPSO and AEFQ algorithms are experimentally evaluated with two unmanned aerial vehicle (UAV) benchmark missions: (1) relocating the UAV to a charging station and (2) collecting and delivering a package. Performance is measured by inspecting the success and completeness of the mission and the accuracy of autonomous flight control. The results show that the AE-SPSO/AEFQ approach successfully finds the optimal state-transition for each mission task and that autonomous flight control is successfully achieved

Late Holocene ecological history of Pinus pinaster forests in the Sierra de Gredos of central Spain

15 páginas, 4 figuras, 1 tabla.This article describes the patterns and processes of vegetation change and fire history in the Late Holocene (c. 2400 calendar year BP) palaeoecological sequence of Lanzahíta, Sierra de Gredos in central Spain, and provides the first Iberian pollen sequence undertaken within a monospecific Pinus pinaster woodland. These new data reassess not only the autochthonous nature of this pine species in the region and the Iberian Peninsula, but also the naturalness of well-developed cluster pine forests. Conflicts of palaeoecological evidence with phytosociological models of vegetation dynamics in the study region, and the relationships of P. pinaster with fire occurrence in Mediterranean-type ecosystems, are discussed.This study was funded by the projects HAR2008-06477-C03-03/HIST, CGL-2006-2956-BOS (Plan Nacional I + D + i, Ministry of Education and Science, Spain), CSD2007-00058 (Consolider Program, Consejo Superior de Investigaciones Científicas, Spain) and Paleodiversitas Network (Fundación Séneca, Murcia).Peer reviewe

Open Data from the Third Observing Run of LIGO, Virgo, KAGRA, and GEO

Abstract The global network of gravitational-wave observatories now includes five detectors, namely LIGO Hanford, LIGO Livingston, Virgo, KAGRA, and GEO 600. These detectors collected data during their third observing run, O3, composed of three phases: O3a starting in 2019 April and lasting six months, O3b starting in 2019 November and lasting five months, and O3GK starting in 2020 April and lasting two weeks. In this paper we describe these data and various other science products that can be freely accessed through the Gravitational Wave Open Science Center at https://gwosc.org. The main data set, consisting of the gravitational-wave strain time series that contains the astrophysical signals, is released together with supporting data useful for their analysis and documentation, tutorials, as well as analysis software packages.</jats:p

Model-based Cross-correlation Search for Gravitational Waves from the Low-mass X-Ray Binary Scorpius X-1 in LIGO O3 Data

We present the results of a model-based search for continuous gravitational waves from the low-mass X-ray binary Scorpius X-1 using LIGO detector data from the third observing run of Advanced LIGO and Advanced Virgo. This is a semicoherent search that uses details of the signal model to coherently combine data separated by less than a specified coherence time, which can be adjusted to balance sensitivity with computing cost. The search covered a range of gravitational-wave frequencies from 25 to 1600 Hz, as well as ranges in orbital speed, frequency, and phase determined from observational constraints. No significant detection candidates were found, and upper limits were set as a function of frequency. The most stringent limits, between 100 and 200 Hz, correspond to an amplitude h0 of about 10−25 when marginalized isotropically over the unknown inclination angle of the neutron star's rotation axis, or less than 4 × 10−26 assuming the optimal orientation. The sensitivity of this search is now probing amplitudes predicted by models of torque balance equilibrium. For the usual conservative model assuming accretion at the surface of the neutron star, our isotropically marginalized upper limits are close to the predicted amplitude from about 70 to 100 Hz; the limits assuming that the neutron star spin is aligned with the most likely orbital angular momentum are below the conservative torque balance predictions from 40 to 200 Hz. Assuming a broader range of accretion models, our direct limits on gravitational-wave amplitude delve into the relevant parameter space over a wide range of frequencies, to 500 Hz or more

Narrowband searches for continuous and long-duration transient gravitational waves from known pulsars in the LIGO-Virgo third observing run

Isolated neutron stars that are asymmetric with respect to their spin axis are possible sources of detectable continuous gravitational waves. This paper presents a fully coherent search for such signals from eighteen pulsars in data from LIGO and Virgo's third observing run (O3). For known pulsars, efficient and sensitive matched-filter searches can be carried out if one assumes the gravitational radiation is phase-locked to the electromagnetic emission. In the search presented here, we relax this assumption and allow both the frequency and the time derivative of the frequency of the gravitational waves to vary in a small range around those inferred from electromagnetic observations. We find no evidence for continuous gravitational waves, and set upper limits on the strain amplitude for each target. These limits are more constraining for seven of the targets than the spin-down limit defined by ascribing all rotational energy loss to gravitational radiation. In an additional search, we look in O3 data for long-duration (hours–months) transient gravitational waves in the aftermath of pulsar glitches for six targets with a total of nine glitches. We report two marginal outliers from this search, but find no clear evidence for such emission either. The resulting duration-dependent strain upper limits do not surpass indirect energy constraints for any of these targets